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Deformable objects manipulation can benefit from representations that seamlessly integrate vision and touch while handling occlusions. In this work, we present a novel approach for, and real-world demonstration of, multimodal visuo-tactile…
Light projection is a powerful technique to edit appearances of objects in the real world. Based on pixel-wise modification of light transport, previous techniques have successfully modified static surface properties such as surface color,…
In deformable object manipulation, we often want to interact with specific segments of an object that are only defined in non-deformed models of the object. We thus require a system that can recognize and locate these segments in sensor…
This paper presents a novel approach to reconstruct complete 3D deformable models over time by a single depth camera. These are the steps employed for deforming objects from single depth camera. The partial surfaces reconstructed from…
Accurate 3D shape abstraction from a single 2D image is a long-standing problem in computer vision and graphics. By leveraging a set of primitives to represent the target shape, recent methods have achieved promising results. However, these…
This paper proposes a unified vision-based manipulation framework using image contours of deformable/rigid objects. Instead of using human-defined cues, the robot automatically learns the features from processed vision data. Our method…
Deformable objects often appear in unstructured configurations. Tracing deformable objects helps bringing them into extended states and facilitating the downstream manipulation tasks. Due to the requirements for object-specific modeling or…
While robotic manipulation of rigid objects is quite straightforward, coping with deformable objects is an open issue. More specifically, tasks like tying a knot, wiring a connector or even surgical suturing deal with the domain of…
Accurately digitizing physical objects is central to many applications, including virtual/augmented reality, industrial design, and e-commerce. Prior research has demonstrated efficient and faithful reconstruction of objects' geometric…
We investigate how a residual network can learn to predict the dynamics of interacting shapes purely as an image-to-image regression task. With a simple 2d physics simulator, we generate short sequences composed of rectangles put in motion…
In robotics, it's crucial to understand object deformation during tactile interactions. A precise understanding of deformation can elevate robotic simulations and have broad implications across different industries. We introduce a method…
Goal-conditioned rearrangement of deformable objects (e.g. straightening a rope and folding a cloth) is one of the most common deformable manipulation tasks, where the robot needs to rearrange a deformable object into a prescribed goal…
Reasoning over the interplay between object deformation and force transmission through contact is central to the manipulation of compliant objects. In this paper, we propose Neural Deforming Contact Field (NDCF), a representation that…
We aim to obtain an interpretable, expressive, and disentangled scene representation that contains comprehensive structural and textural information for each object. Previous scene representations learned by neural networks are often…
Capturing both geometry and rigid motion for structured dynamic objects, like multi-part assemblies or jointed mechanisms, remains a key challenge. Existing dynamic methods, such as deformable meshes or 3DGS, rely on unstructured…
In this paper, we presented a new method for deformation control of deformable objects, which utilizes both visual and tactile feedback. At present, manipulation of deformable objects is basically formulated by assuming positional…
An object-oriented approach to implementing artificial neural networks is introduced in this article. The networks obtained in this way are highly connected in that they admit edges between nodes in any layers of the network, and dynamic,…
The paper develops a new adversarial attack against deep neural networks (DNN), based on applying bio-inspired design to moving physical objects. To the best of our knowledge, this is the first work to introduce physical attacks with a…
Grasping deformable objects is not well researched due to the complexity in modelling and simulating the dynamic behavior of such objects. However, with the rapid development of physics-based simulators that support soft bodies, the…
Consider a set of images of a scene consisting of moving objects captured using a hand-held camera. In this work, we propose an algorithm which takes this set of multi-view images as input, detects the dynamic objects present in the scene,…